LSIS XGT Series - Page 320

Chapter 6 Motion Function Blocks
6-181
UINT CommandType
Output the type of path operation.
0: None
1: Linear interpolation operation for the absolute position of the coordinate system,
2: Linear interpolation operation for the relative position of the coordinate system
3: Circular interpolation operation for the absolute position of the coordinate
system, 4: Circular interpolation operation for the relative position of the coordinate
system
UINT
Mode
Output the operation mode.
UINT
CoordSystem
Output the coordinate system type.(1:MCS 2:PCS)
LREAL[]
Position
Output the target position.
LREAL
Velocity
Output the maximum speed of the path. [u/s]
LREAL
Acceleration
Output the maximum acceleration [u/s
2
]
LREAL
Deceleration
Output the maximum deceleration [u/s
2
]
LREAL
Jerk
Output the change rate of acceleration/deceleration. [u/s
3
]
UINT BufferMode
Specify the sequential operation setting of motion function block.
(Refer to 6.1.4.BufferMode)
UINT
TransitionMode
Unused
LREAL
TransitionParameter
Unused
(1) This motion function block is the function block to read the path data to the axis group specified in AxesGroup input.
(2) The step value can be set from 0, and the size of one step is 96 Bytes.
(3) The path data is saved in the area of data set in PathData. The variable set in PathData should be set to 96 times or more of
the number of the steps to use.
(4) For more details, refer to Section 8.4.11, "Path Operation of the Coordinate System ".